US20150005784A2 - Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System - Google Patents

Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System Download PDF

Info

Publication number
US20150005784A2
US20150005784A2 US13/828,008 US201313828008A US2015005784A2 US 20150005784 A2 US20150005784 A2 US 20150005784A2 US 201313828008 A US201313828008 A US 201313828008A US 2015005784 A2 US2015005784 A2 US 2015005784A2
Authority
US
United States
Prior art keywords
instrument
mounting
surgical
drive unit
surgical instrument
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US13/828,008
Other languages
English (en)
Other versions
US20140180309A1 (en
Inventor
Marcel Seeber
Andreas Karguth
Christian Trommer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Avateramedical GmbH
Original Assignee
E-SYS MEDICAL GmbH
Avateramedical GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by E-SYS MEDICAL GmbH, Avateramedical GmbH filed Critical E-SYS MEDICAL GmbH
Assigned to E-SYS MEDICAL GMBH reassignment E-SYS MEDICAL GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SEEBER, MARCEL, TROMMER, Christian
Assigned to avateramedical GmBH reassignment avateramedical GmBH CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: KARGUTH, ANDREAS, SEEBER, MARCEL, TROMMER, Christian
Publication of US20140180309A1 publication Critical patent/US20140180309A1/en
Publication of US20150005784A2 publication Critical patent/US20150005784A2/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • A61B19/2203—
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B19/201—
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • Robot systems known from prior art are based on robot arms with an active movement of a surgical instrument, which on one hand require a large installation space and on the other hand, due to the typical embodiments, make it difficult to avoid collisions caused by the movements of the robot arms.
  • a minimally invasive surgical procedure a minimum of two, usually three to four surgical instruments, such as gripper, scissors, needle holder, dissector), as well as a camera or an endoscope are used, which are each inserted into the patient's body via a separate trocar.
  • surgical instruments such as gripper, scissors, needle holder, dissector
  • a camera or an endoscope are used, which are each inserted into the patient's body via a separate trocar.
  • the instrument drive unit on the telescopic device is pivoted by means of an instrument pivot point so that the longitudinal axis of the telescope of the telescopic device is variable in relation to the longitudinal axis of the surgical instrument and/or the endoscope in dependence on the feeding drive.
  • the guide device comprises at least one instrument guide, through which the shaft of the surgical instrument and/or the endoscope extends.
  • the feeding drive is arranged on the telescopic device by means of a feeding drive position point, in such fashion that the rotation of the instrument drive unit around the pivot point is the result of a coupling device comprising a coupling pivot point which is firmly connected with the support element.
  • FIG. 2 a shows a further schematic view of the manipulator arm according to the invention for active positioning of a surgical instrument which is connected to a telescopic jib by means of a pivotably mounted drive unit, including a coupling element between the guide device for inserting a surgical instrument and the constructive device for achieving the second axis of rotation, which illustrates the sliding motion that creates the rotational movement about the second axis of rotation by means of a coupling joint;
  • FIG. 2 b shows a further schematic view of the manipulator arm according to the invention for active positioning of a surgical instrument which is connected to a telescopic jib by means of a pivotably mounted drive unit, including a coupling element between the guide device for inserting a surgical instrument and the constructive device for achieving the second axis of rotation, which illustrates the sliding motion that creates the rotational movement about the second axis of rotation by means of a coupling joint;
  • FIG. 6 shows a schematic view of embodiments of the manipulator arm according to the invention for active positioning of a surgical instrument, which comprise telescopic arm on the right side and telescopic arm on the left side for mutual use with a single port trocar;
  • FIG. 10 shows a schematic side view of a superordinate carrying system, on which the flexibly adjustable support structure according to the invention is arranged with four connected prepositioning devices according to the invention on each of which a manipulator arm according to the invention for active positioning of a surgical instrument is arranged;
  • the pivot point 13 in or on the abdominal wall 14 eventuates from the resulting force between torque impressed from the outside and reset or holding torque of the abdominal wall. This puts less stress on the tissue of the abdominal wall, in particular if more than one instrument 9 is used, each in its own guide device 10 , because there is no direct fixed mechanically coupled force exerted by the coupling element 12 acting on guide device 10 and thus the abdominal wall 14 .
  • a relative motion 62 a, 62 b of the two instruments leads towards each other, e.g. in order to connect tissue by means of a seam stitching in the surgical area, whereas a relative motion 61 a, 61 b of the two manipulator arms outside of the patient leads away from each other. This ensures that the manipulator arms cannot collide with each other.
  • a manipulator arm according to the invention is fitted with e.g. an endoscopic camera the image signals can be transmitted to a processing unit 51 via the appropriate data connections 49 , 45 , 50 , which processes the image data for presentation and feeds it back to a visualization unit 53 via a further data connection 53 .
  • the visualization unit 53 can display both 2D and 3D image data, for example separately but also combined in a single image or a single series of pictures.
  • the control of how image data is displayed is performed by the control unit 44 , according to the wish of the operator or surgeon respectively.
  • the control commands produced by the control unit 44 for this purpose are transmitted to processing unit 51 via data connection 51 .

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)
US13/828,008 2012-12-20 2013-03-14 Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System Abandoned US20150005784A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012025099.1 2012-12-20
DE102012025099 2012-12-20

Publications (2)

Publication Number Publication Date
US20140180309A1 US20140180309A1 (en) 2014-06-26
US20150005784A2 true US20150005784A2 (en) 2015-01-01

Family

ID=50878754

Family Applications (2)

Application Number Title Priority Date Filing Date
US13/828,008 Abandoned US20150005784A2 (en) 2012-12-20 2013-03-14 Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System
US14/653,212 Expired - Fee Related US9795454B2 (en) 2012-12-20 2013-12-12 Holding and positioning apparatus of a surgical instrument and/or an endoscope for minimally invasive surgery and a robotic surgical system

Family Applications After (1)

Application Number Title Priority Date Filing Date
US14/653,212 Expired - Fee Related US9795454B2 (en) 2012-12-20 2013-12-12 Holding and positioning apparatus of a surgical instrument and/or an endoscope for minimally invasive surgery and a robotic surgical system

Country Status (8)

Country Link
US (2) US20150005784A2 (enExample)
EP (1) EP2934361B1 (enExample)
JP (1) JP6342418B2 (enExample)
CN (1) CN104869935B (enExample)
BR (1) BR112015014298B1 (enExample)
DE (1) DE102013004459A1 (enExample)
RU (1) RU2644281C2 (enExample)
WO (1) WO2014094716A1 (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180129207A1 (en) * 2016-11-08 2018-05-10 Digital Aerolus, Inc. Real time effective mass and moment of inertia measurement
RU2745880C2 (ru) * 2016-06-27 2021-04-02 Аватерамедикаль Гмбх Устройство удержания инструментов для манипулятора роботизированной хирургической системы

Families Citing this family (186)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8219178B2 (en) 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US9782229B2 (en) 2007-02-16 2017-10-10 Globus Medical, Inc. Surgical robot platform
US10653497B2 (en) 2006-02-16 2020-05-19 Globus Medical, Inc. Surgical tool systems and methods
US9919433B2 (en) * 2010-03-31 2018-03-20 Industry-University Cooperation Foundation Hanyang University Erica Campus One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
EP2627278B1 (en) 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
US9308050B2 (en) 2011-04-01 2016-04-12 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system and method for spinal and other surgeries
US9696700B2 (en) 2011-07-27 2017-07-04 Ecole Polytechnique Federale De Lausanne Mechanical teleoperated device for remote manipulation
US9295524B2 (en) 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
US12446981B2 (en) 2012-06-21 2025-10-21 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US12262954B2 (en) 2012-06-21 2025-04-01 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US10350013B2 (en) 2012-06-21 2019-07-16 Globus Medical, Inc. Surgical tool systems and methods
US12465433B2 (en) 2012-06-21 2025-11-11 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US12329593B2 (en) 2012-06-21 2025-06-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US12220120B2 (en) 2012-06-21 2025-02-11 Globus Medical, Inc. Surgical robotic system with retractor
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US12472008B2 (en) 2012-06-21 2025-11-18 Globus Medical, Inc. Robotic fluoroscopic navigation
US20150032164A1 (en) 2012-06-21 2015-01-29 Globus Medical, Inc. Methods for Performing Invasive Medical Procedures Using a Surgical Robot
US12310683B2 (en) 2012-06-21 2025-05-27 Globus Medical, Inc. Surgical tool systems and method
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
TWI511700B (zh) * 2013-11-19 2015-12-11 Univ Nat Taiwan Science Tech 手術扶持裝置
US9241771B2 (en) 2014-01-15 2016-01-26 KB Medical SA Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
US10265129B2 (en) 2014-02-03 2019-04-23 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
WO2015121311A1 (en) 2014-02-11 2015-08-20 KB Medical SA Sterile handle for controlling a robotic surgical system from a sterile field
US10004562B2 (en) 2014-04-24 2018-06-26 Globus Medical, Inc. Surgical instrument holder for use with a robotic surgical system
US10357257B2 (en) 2014-07-14 2019-07-23 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
KR101961572B1 (ko) 2014-08-14 2019-03-22 쿠카 도이칠란트 게엠베하 로봇의 포지셔닝
DE102014012124A1 (de) * 2014-08-14 2016-02-18 Kuka Roboter Gmbh Positionierung eines Roboters
EP3185808B1 (en) 2014-08-27 2022-02-23 DistalMotion SA Surgical system for microsurgical techniques
WO2016087539A2 (en) 2014-12-02 2016-06-09 KB Medical SA Robot assisted volume removal during surgery
WO2016097861A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Sterile interface for articulated surgical instruments
EP3232977B1 (en) 2014-12-19 2020-01-29 DistalMotion SA Docking system for mechanical telemanipulator
EP3232974B1 (en) 2014-12-19 2018-10-24 DistalMotion SA Articulated handle for mechanical telemanipulator
ES2975974T3 (es) 2014-12-19 2024-07-18 Distalmotion Sa Instrumento quirúrgico reutilizable para procedimientos mínimamente invasivos
WO2016097864A2 (en) 2014-12-19 2016-06-23 Distalmotion Sa Surgical instrument with articulated end-effector
US10013808B2 (en) 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
US10555782B2 (en) 2015-02-18 2020-02-11 Globus Medical, Inc. Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
EP4484082A3 (en) 2015-04-09 2025-03-12 Distalmotion SA Mechanical teleoperated device for remote manipulation
EP3280337B1 (en) 2015-04-09 2019-11-13 DistalMotion SA Articulated hand-held instrument
CN107735044B (zh) 2015-05-11 2021-02-05 柯惠Lp公司 耦合器械驱动单元和机器人手术器械
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
CN104887325A (zh) * 2015-06-17 2015-09-09 冯晶晶 吊顶式镜头支架
WO2016205452A1 (en) 2015-06-19 2016-12-22 Covidien Lp Controlling robotic surgical instruments with bidirectional coupling
US10646298B2 (en) 2015-07-31 2020-05-12 Globus Medical, Inc. Robot arm and methods of use
US10058394B2 (en) 2015-07-31 2018-08-28 Globus Medical, Inc. Robot arm and methods of use
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
WO2017037532A1 (en) 2015-08-28 2017-03-09 Distalmotion Sa Surgical instrument with increased actuation force
EP3344179B1 (en) 2015-08-31 2021-06-30 KB Medical SA Robotic surgical systems
US10034716B2 (en) 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
EP3146930B1 (en) * 2015-09-22 2018-06-06 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi A surgical robot's tool arms assembly
US9771092B2 (en) 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
CN105250025B (zh) * 2015-11-25 2017-06-13 吉林大学 一种辅助微创手术中夹持内窥镜的末端执行器
USD864388S1 (en) * 2015-12-21 2019-10-22 avateramedical GmBH Instrument unit
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
EP3241518B1 (en) 2016-04-11 2024-10-23 Globus Medical, Inc Surgical tool systems
BR112019001533B1 (pt) * 2016-07-28 2023-02-14 Tom Thys Prendedor de instrumento
CN109788994B (zh) * 2016-10-18 2022-07-19 直观外科手术操作公司 计算机辅助的远程操作手术系统和方法
CN106371374A (zh) * 2016-11-07 2017-02-01 福州幻科机电科技有限公司 一种微创内窥镜四自由度定位机的智能控制电路系统
JP7233841B2 (ja) 2017-01-18 2023-03-07 ケービー メディカル エスアー ロボット外科手術システムのロボットナビゲーション
US11071594B2 (en) 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
DE102017109891A1 (de) * 2017-05-09 2018-11-15 Aesculap Ag Chirurgisches Instrument mit verbesserter Schließcharakteristik
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
CN107028579B (zh) * 2017-05-25 2019-04-23 杭州妙手机器人有限公司 腹腔镜设备的绕点移动机构
DE102017113274A1 (de) * 2017-06-16 2018-12-20 avateramedical GmBH Kameraobjektiv für ein Endoskop und Endoskop
US11135015B2 (en) 2017-07-21 2021-10-05 Globus Medical, Inc. Robot surgical platform
DE102017118126A1 (de) 2017-08-09 2019-02-14 avateramedical GmBH Robotisches Operationssystem
CN107320178B (zh) * 2017-08-11 2023-10-27 宁波华科润生物科技有限公司 一种医学辅助操作装置
US11382666B2 (en) 2017-11-09 2022-07-12 Globus Medical Inc. Methods providing bend plans for surgical rods and related controllers and computer program products
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
JP6778242B2 (ja) 2017-11-09 2020-10-28 グローバス メディカル インコーポレイティッド 手術用ロッドを曲げるための手術用ロボットシステム、および関連する方法および装置
US12544109B2 (en) 2017-11-09 2026-02-10 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
WO2019108437A2 (en) 2017-11-29 2019-06-06 Covidien Lp Robotic surgical systems, instrument drive assemblies, and drive assemblies
CN108210076B (zh) * 2018-01-02 2019-02-19 谭晓莉 一种腹腔镜手术中使用的手术器械定位组件
MX2020007623A (es) 2018-01-17 2020-09-14 Auris Health Inc Plataforma quirurgica con soportes de brazo regulable.
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
WO2019155383A1 (en) 2018-02-07 2019-08-15 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
CN111166485B (zh) * 2018-11-13 2024-04-30 重庆金山医疗机器人有限公司 手术辅助机器人器械长杆端部固定结构、器械及固定方法
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
JP6870010B2 (ja) * 2019-01-21 2021-05-12 株式会社メディカロイド 手術システムおよび支持装置
CN109528304B (zh) * 2019-01-22 2023-10-20 绵阳美科电子设备有限责任公司 操控内窥镜的装置及其应用方法
CN109662779B (zh) * 2019-01-25 2021-06-18 李汉忠 一种经尿道电切镜手术机器人系统
WO2020172394A1 (en) 2019-02-22 2020-08-27 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
WO2020185516A1 (en) 2019-03-08 2020-09-17 Auris Health, Inc. Tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
CN110123250A (zh) * 2019-06-28 2019-08-16 陈龙 一种口腔科专用口腔科检查装置
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
CN110403697B (zh) * 2019-08-30 2024-08-30 山东威高手术机器人有限公司 竖直伸缩关节以及具有竖直伸缩关节的微创手术机器人
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US12396692B2 (en) 2019-09-24 2025-08-26 Globus Medical, Inc. Compound curve cable chain
US12329391B2 (en) 2019-09-27 2025-06-17 Globus Medical, Inc. Systems and methods for robot-assisted knee arthroplasty surgery
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US12408929B2 (en) 2019-09-27 2025-09-09 Globus Medical, Inc. Systems and methods for navigating a pin guide driver
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
US12220176B2 (en) 2019-12-10 2025-02-11 Globus Medical, Inc. Extended reality instrument interaction zone for navigated robotic
US12133772B2 (en) 2019-12-10 2024-11-05 Globus Medical, Inc. Augmented reality headset for navigated robotic surgery
US11992373B2 (en) 2019-12-10 2024-05-28 Globus Medical, Inc Augmented reality headset with varied opacity for navigated robotic surgery
US12064189B2 (en) 2019-12-13 2024-08-20 Globus Medical, Inc. Navigated instrument for use in robotic guided surgery
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US12414752B2 (en) 2020-02-17 2025-09-16 Globus Medical, Inc. System and method of determining optimal 3-dimensional position and orientation of imaging device for imaging patient bones
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
CN113729623B (zh) * 2020-05-30 2023-03-03 深圳硅基传感科技有限公司 生理参数监测仪的批量植入装置
US12070276B2 (en) 2020-06-09 2024-08-27 Globus Medical Inc. Surgical object tracking in visible light via fiducial seeding and synthetic image registration
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
US12076091B2 (en) 2020-10-27 2024-09-03 Globus Medical, Inc. Robotic navigational system
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US11941814B2 (en) 2020-11-04 2024-03-26 Globus Medical Inc. Auto segmentation using 2-D images taken during 3-D imaging spin
USD1022197S1 (en) 2020-11-19 2024-04-09 Auris Health, Inc. Endoscope
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
US12161433B2 (en) 2021-01-08 2024-12-10 Globus Medical, Inc. System and method for ligament balancing with robotic assistance
KR20230160306A (ko) * 2021-03-18 2023-11-23 버츄오쏘 써지컬, 아이엔씨. 최소 침습 수술을 수행하기 위한 시스템
US12150728B2 (en) 2021-04-14 2024-11-26 Globus Medical, Inc. End effector for a surgical robot
US12178523B2 (en) 2021-04-19 2024-12-31 Globus Medical, Inc. Computer assisted surgical navigation system for spine procedures
US12458454B2 (en) 2021-06-21 2025-11-04 Globus Medical, Inc. Gravity compensation of end effector arm for robotic surgical system
US11857273B2 (en) 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US12484969B2 (en) 2021-07-06 2025-12-02 Globdus Medical Inc. Ultrasonic robotic surgical navigation
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
EP4401666A1 (en) 2021-09-13 2024-07-24 DistalMotion SA Instruments for surgical robotic system and interfaces for the same
US12201375B2 (en) 2021-09-16 2025-01-21 Globus Medical Inc. Extended reality systems for visualizing and controlling operating room equipment
US12184636B2 (en) 2021-10-04 2024-12-31 Globus Medical, Inc. Validating credential keys based on combinations of credential value strings and input order strings
US12238087B2 (en) 2021-10-04 2025-02-25 Globus Medical, Inc. Validating credential keys based on combinations of credential value strings and input order strings
US12444045B2 (en) 2021-10-20 2025-10-14 Globus Medical, Inc. Interpolation of medical images
US20230165639A1 (en) 2021-12-01 2023-06-01 Globus Medical, Inc. Extended reality systems with three-dimensional visualizations of medical image scan slices
US11918304B2 (en) 2021-12-20 2024-03-05 Globus Medical, Inc Flat panel registration fixture and method of using same
US12544146B2 (en) 2022-02-11 2026-02-10 Globus Medical, Inc. Apparatus and method for removing circular trackers attached to a tracking array
US12103480B2 (en) 2022-03-18 2024-10-01 Globus Medical Inc. Omni-wheel cable pusher
DE102022106602B4 (de) 2022-03-21 2024-08-22 Karl Storz Se & Co. Kg Medizinische Kinematik mit virtuellem Drehpunkt, medizinischer Roboter sowie Verwendung einer medizinischen Kinematik und eines medizinischen Roboters
US12048493B2 (en) 2022-03-31 2024-07-30 Globus Medical, Inc. Camera tracking system identifying phantom markers during computer assisted surgery navigation
US12394086B2 (en) 2022-05-10 2025-08-19 Globus Medical, Inc. Accuracy check and automatic calibration of tracked instruments
US12161427B2 (en) 2022-06-08 2024-12-10 Globus Medical, Inc. Surgical navigation system with flat panel registration fixture
US12226169B2 (en) 2022-07-15 2025-02-18 Globus Medical, Inc. Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
US20240020840A1 (en) 2022-07-15 2024-01-18 Globus Medical, Inc. REGISTRATION OF 3D and 2D IMAGES FOR SURGICAL NAVIGATION AND ROBOTIC GUIDANCE WITHOUT USING RADIOPAQUE FIDUCIALS IN THE IMAGES
US12318150B2 (en) 2022-10-11 2025-06-03 Globus Medical Inc. Camera tracking system for computer assisted surgery navigation
US12502220B2 (en) 2022-11-15 2025-12-23 Globus Medical, Inc. Machine learning system for spinal surgeries
CN115778511B (zh) * 2023-02-03 2023-04-07 深圳市亿康医疗技术有限公司 一种胸腔镜手术定位装置
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
EP4483832A1 (en) * 2023-06-29 2025-01-01 Zentact Robotics Surgical system for ear, nose, throat surgeries

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070137371A1 (en) * 2005-12-20 2007-06-21 Devengenzo Roman L Telescoping insertion axis of a robotic surgical system
US20110071473A1 (en) * 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Surgical port feature
US20110277776A1 (en) * 2010-05-14 2011-11-17 Intuitive Surgical Operations, Inc. Surgical system sterile drape
US20120022554A1 (en) * 2009-04-03 2012-01-26 Jamie Paik Surgical instrument

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6451027B1 (en) * 1998-12-16 2002-09-17 Intuitive Surgical, Inc. Devices and methods for moving an image capture device in telesurgical systems
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US7892243B2 (en) * 2001-01-16 2011-02-22 Microdexterity Systems, Inc. Surgical manipulator
CN101340852B (zh) * 2005-12-20 2011-12-28 直观外科手术操作公司 机器人外科系统的器械对接装置
US9610131B2 (en) * 2008-11-05 2017-04-04 The Johns Hopkins University Rotating needle driver and apparatuses and methods related thereto
US20110071541A1 (en) 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
WO2012044869A2 (en) 2010-09-30 2012-04-05 Carefusion 2200, Inc. Detachable handle mechanism for use in instrument positioning
RU122326U1 (ru) * 2012-01-18 2012-11-27 Олег Владимирович Галимов Роботическая система для проведения эндовидеохирургических операций

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070137371A1 (en) * 2005-12-20 2007-06-21 Devengenzo Roman L Telescoping insertion axis of a robotic surgical system
US20120022554A1 (en) * 2009-04-03 2012-01-26 Jamie Paik Surgical instrument
US20110071473A1 (en) * 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Surgical port feature
US20110277776A1 (en) * 2010-05-14 2011-11-17 Intuitive Surgical Operations, Inc. Surgical system sterile drape

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2745880C2 (ru) * 2016-06-27 2021-04-02 Аватерамедикаль Гмбх Устройство удержания инструментов для манипулятора роботизированной хирургической системы
US11452571B2 (en) 2016-06-27 2022-09-27 avateramedical GmBH Instrument support device for a manipulator of a robotic surgical system
US20180129207A1 (en) * 2016-11-08 2018-05-10 Digital Aerolus, Inc. Real time effective mass and moment of inertia measurement

Also Published As

Publication number Publication date
WO2014094716A1 (de) 2014-06-26
CN104869935B (zh) 2017-11-28
BR112015014298A8 (pt) 2019-10-08
CN104869935A (zh) 2015-08-26
BR112015014298B1 (pt) 2021-06-22
RU2015129335A (ru) 2017-01-24
US20140180309A1 (en) 2014-06-26
US20160184030A1 (en) 2016-06-30
BR112015014298A2 (pt) 2017-07-11
JP2016503678A (ja) 2016-02-08
HK1211822A1 (en) 2016-06-03
EP2934361A1 (de) 2015-10-28
US9795454B2 (en) 2017-10-24
RU2644281C2 (ru) 2018-02-08
JP6342418B2 (ja) 2018-06-13
EP2934361B1 (de) 2018-09-26
DE102013004459A1 (de) 2014-06-26

Similar Documents

Publication Publication Date Title
US20150005784A2 (en) Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System
US9480531B2 (en) Active device for positioning a surgical instrument and a surgical robotic system comprising this device
US12232911B2 (en) Instrument holder
ES2810802T3 (es) Posicionador de herramienta articulado y sistema que emplea mismo
JP5785538B2 (ja) 腹腔鏡手術用のロボットシステム
RU2745880C2 (ru) Устройство удержания инструментов для манипулятора роботизированной хирургической системы
US20130289580A1 (en) Magnetic-anchored robotic system
US20120132018A1 (en) Remote centre of motion positioner
EP3206616B1 (en) System for controlling displacement of an intervention device
JP7096393B2 (ja) 手術システムおよび支持装置
CN217566304U (zh) 具有图像系统的医疗机器人
US20210161556A1 (en) Cannula, cannula system, and manipulator
HK1211822B (en) Retaining and positioning device of a surgical instrument and/or an endoscope for minimally invasive surgery and surgical robot system
HK1211823B (en) Active positioning arrangement of a surgical instrument and robotic surgical system comprising same
WO2018070040A1 (ja) 把持機構

Legal Events

Date Code Title Description
AS Assignment

Owner name: E-SYS MEDICAL GMBH, GERMANY

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SEEBER, MARCEL;TROMMER, CHRISTIAN;REEL/FRAME:030032/0416

Effective date: 20130213

AS Assignment

Owner name: AVATERAMEDICAL GMBH, GERMANY

Free format text: CHANGE OF NAME;ASSIGNORS:SEEBER, MARCEL;TROMMER, CHRISTIAN;KARGUTH, ANDREAS;REEL/FRAME:031716/0796

Effective date: 20130213

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION